Ibidengeri bitanga ibikorwa byo koga kubantu bigomba guhorana isuku nisuku. Mubisanzwe, amazi ya pisine asimburwa buri gihe, kandi pisine isukurwa nintoki. Mu myaka yashize, ibihugu bimwe n’uturere byateye imbere byifashishije ibikoresho bya mashini - pisine yo koga byikora imashini isukura, ishobora guhita isukura pisine idasohora amazi ya pisine, ntabwo ibika umutungo w’amazi gusa, ahubwo inasimbuza imirimo iremereye intoki gusukura ikidendezi.
Imashini isanzwe yo koga yo koga ikora ikora mugushira robot muri pisine. Imashini igenda itunguranye mu cyerekezo kimwe irahindukira nyuma yo gukubita urukuta rwa pisine. Imashini igenda idasanzwe muri pisine kandi ntishobora gusukura neza pisine.
Kugirango robot yo koga ya pisine isukure yigenga buri gace ko munsi yikidendezi, igomba kwemererwa kugenda ukurikije umurongo runaka w amategeko agenga inzira. Kubwibyo, birakenewe gupima umwanya-nyawo umwanya na status ya robo. Kugirango rero yohereze amabwiriza yimikorere yumvikana ukurikije amakuru yigenga.
Iyemerera robot kumva umwanya wayo mugihe nyacyo, Hano harakenewe ibyuma bifata amajwi munsi.
■Gupima Ihame ryo Kuringaniza Amazi no Kwirinda Inzitizi
Icyuma cyo kwirinda inzitizi zo mu mazi zikoresha imiraba ya ultrasonic yohereza mu mazi, kandi iyo ihuye n'ikintu cyapimwe, iragaruka inyuma, kandi intera iri hagati ya sensor n'inzitizi irapimwa ikoherezwa mu mato, buoy, ibinyabiziga bitagira abapilote n'ibindi bikoresho. , irashobora gukoreshwa mukwirinda inzitizi, kandi irashobora no gukoreshwa mumazi aringaniye.
Ihame ryo gupima: Umuhengeri wa ultrasonic utangwa na probe ya ultrasonic ikwirakwira mu mazi, igahura n'intego yapimwe, hanyuma igasubira muri probe ya ultrasonic ikoresheje amazi nyuma yo gutekereza, kuko igihe cyo gusohora no kwakirwa gishobora kumenyekana, ukurikije iki gihe × ijwi umuvuduko ÷ 2 = Intera iri hagati yikwirakwizwa rya probe nintego yapimwe.
Inzira: D = C * t / 2
.
Niba itandukaniro ryigihe hagati yo kohereza no kwakirwa ari 0.01 isegonda, umuvuduko wijwi mumazi meza mubushyuhe bwicyumba ni 1500 m / s.
1500 m / sx 0.01 sec = 15 m
Metero 15 ÷ 2 = metero 7,50
Nukuvuga ko intera iri hagati yubuso bwikwirakwizwa rya probe nintego yapimwe ni metero 7,50.
■ Dianyingpu Amazi aringaniye hamwe na sensor yo kwirinda inzitizi
L04 yo mu mazi ultrasonic iringaniye hamwe na sensor yo kwirinda inzitizi ikoreshwa cyane cyane muri robo zo mumazi kandi igashyirwa hafi ya robo. Iyo sensor ibonye inzitizi, izahita yohereza amakuru kuri robo. Urebye icyerekezo cyo kwishyiriraho hamwe namakuru yatanzwe, urukurikirane rwibikorwa nko guhagarara, guhindukira, no kwihuta birashobora gukorwa kugirango umenye kugenda neza.
Ibyiza byibicuruzwa：
Range Ibipimo bipima: 3m, 6m, 10m bidashoboka
Zone Impumyi: 2cm
■ Ukuri: ≤5mm
Inguni: irashobora guhinduka kuva 10 ° kugeza 30 °
Kurinda: IP68 kubumba muri rusange, birashobora gutegurwa kuburebure bwa metero 50 zamazi
■ Igihagararo: amazi yo guhuza n'imihindagurikire ya algorithm
Kubungabunga: kuzamura kure, amajwi yo kugarura kugarura ibibazo
■ Abandi: gusohora amazi, ibitekerezo byubushyuhe bwamazi
Vol Umuvuduko w'akazi: 5 ~ 24 VDC
Interface Ibisohoka: UART na RS485 birashoboka
Kanda hano wige L04 munsi y'amazi aringaniye
Igihe cyo kohereza: Apr-24-2023